CN104477386B - A kind of single-shot double rocking lever is flat claps class flapping wing aircraft - Google Patents
A kind of single-shot double rocking lever is flat claps class flapping wing aircraft Download PDFInfo
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- CN104477386B CN104477386B CN201410769729.5A CN201410769729A CN104477386B CN 104477386 B CN104477386 B CN 104477386B CN 201410769729 A CN201410769729 A CN 201410769729A CN 104477386 B CN104477386 B CN 104477386B
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Abstract
A kind of single-shot double rocking lever is flat claps class flapping wing aircraft, belongs to technical field of aerospace, including fuselage, empennage, left bat swing device, right bat swing device, undercarriage and driving means.Left bat swing device includes left main shaft, left secondary axle, left master pendulum arm, left secondary swing arm, left main wing axle, port aileron axle, left head sprocket, left chain, left secondary sprocket wheel and left wing's sheet.Right bat swing device and the left identical left and right sides being symmetrically arranged in fuselage of bat swing device structure.Empennage includes fin blade, horizontal switch steering wheel and longitudinal switch steering wheel.Driving means includes electromotor, driving gear, left band tooth rotating disk, right belt tooth rotating disk, left connecting rod, right connecting rod, left rocking bar and right rocking bar.Driving means drives right bat swing device and left bat swing device to synchronize to flutter up and down.Left wing's sheet and right flank sheet will not laterally produce horizontal component during flapping motion, and efficiency is higher.This aircraft is used for taking photo by plane, geographical measurements, traffic duty, agrisilviculture, military investigate and the multiple-task such as rescue and relief work.
Description
Technical field
A kind of single-shot double rocking lever is flat claps class flapping wing aircraft, belongs to technical field of aerospace, particularly relates to a kind of flapping wing aircraft.
Background technology
The wing of tradition flapping wing aircraft is fluttered by arc track, portion of air powertrain components is created in horizontal horizontal direction during wing flapping motion, flapping wing aircraft is moved ahead and goes up to the air by the component of this horizontal direction does not all have positive effect, is a kind of loss of power.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of existing flapping wing aircraft, invent the higher single-shot double rocking lever of a kind of efficiency flat bat class flapping wing aircraft.
A kind of single-shot double rocking lever is flat claps class flapping wing aircraft, including fuselage, empennage, left bat swing device, right bat swing device, undercarriage and driving means.Being furnished with control system, airborne equipment and power-supply device in fuselage, this flapping wing aircraft flight attitude is handled by control system, and airborne equipment includes that various flight instrumentation instrument and capture apparatus, employing lithium battery are that control system, airborne equipment and driving means are powered.It is configured with self-navigation autonomous driving device or remote control equipment, uses self-navigation autonomous driving mode or remote control mode flight.Left bat swing device and the right identical left and right sides being symmetrically arranged in fuselage of bat swing device structure and parameter.Empennage includes fin blade, horizontal switch steering wheel and longitudinal switch steering wheel.Longitudinal switch steering wheel carries out longitudinal switch under the control of control system and controls fin blade, fin blade can be made to deflect up or down, the effect of lifting rudder.During manipulation moves ahead, the fin blade of this aircraft upward deflects this aircraft can be made to come back, it is achieved face upward；The downward bias change of team makes this aircraft bow, it is achieved nutation.Laterally switch steering wheel carries out horizontal switch control under the control of control system to fin blade, and fin blade can be made to tilt to the left or to the right, with longitudinal switch steering wheel with the use of the course that can change this aircraft.Bikini wheel undercarriage after undercarriage employing.For compact conformation and facilitate left bat swing device and right bat swing device to flutter the most up and down, it is respectively provided with left breach and right breach in the left and right sides of fuselage.
Driving means includes electromotor, driving gear, left band tooth rotating disk, right belt tooth rotating disk, left connecting rod, right connecting rod, left rocking bar and right rocking bar.Electromotor uses motor or internal combustion engine.Left band tooth rotating disk is by turning left disk body and left turntable shaft forms, and left turntable shaft front end is perpendicularly fixed at the center of left-hand rotation disk body, and the rear end of left turntable shaft is connected with fuselage by bearing, left turntable shaft vertical equity layout.Right belt tooth rotating disk is by turning right disk body and right turntable shaft forms, and right turntable shaft front end is perpendicularly fixed at the center of right-hand rotation disk body, and the rear end of right turntable shaft is connected with fuselage by bearing, right turntable shaft vertical equity layout, is in same level with left turntable shaft.Left band tooth rotating disk engages with right belt tooth rotating disk, and gear ratio is 1: 1.Electromotor is fixedly mounted on fuselage, and driving gear is fixedly mounted on the output shaft of electromotor, and driving gear engages with right belt tooth rotating disk, and driving gear is less than right belt tooth rotating disk.The lower end of left connecting rod is connected in the close edge of left band tooth rotating disk by the first revolute pair and left band tooth rotating disk, and the upper end of left connecting rod is connected with the right-hand member of left rocking bar by the 3rd revolute pair.The lower end of right connecting rod is connected in the close edge of right belt tooth rotating disk by the second revolute pair and right belt tooth rotating disk, and the upper end of right connecting rod is connected with the left end of right rocking bar by the 4th revolute pair.The left end of the left rocking bar front end that be fixed on left main shaft vertical with the left main shaft of left bat swing device；The right-hand member of the right rocking bar front end that be fixed on right main shaft vertical with the right main shaft of right bat swing device.Left connecting rod is isometric with right connecting rod；Left rocking bar is isometric with right rocking bar.When first revolute pair is in extreme lower position, the second revolute pair is also at extreme lower position, and both are with high, to guarantee that left bat swing device and right bat swing device synchronize to flutter.
The power of electromotor passes to right rocking bar and left rocking bar drives right bat swing device and left bat swing device to flutter up and down respectively through right connecting rod and left connecting rod after driving gear slows down with right belt tooth rotating disk and left band tooth rotating disk again.Engine speed can be controlled by control system, thus controls right bat swing device and the frequency of fluttering of left bat swing device.
Left bat swing device includes left main shaft, left secondary axle, left master pendulum arm, left secondary swing arm, left main wing axle, port aileron axle, left head sprocket, left chain, left secondary sprocket wheel and left wing's sheet.Left wing's sheet is nonrigid, and left wing's sheet leading edge thickness trailing edge is thin, harder near the part of leading edge, softer and flexible near the part of trailing edge.Left wing's sheet is horizontally mounted, and left main wing axle and left wing's sheet are fixed on the leading edge of left wing's sheet and keep left the right-hand member of fin, and port aileron axle and left wing's sheet are fixed in the middle part of the leading edge of left wing's sheet, and left main wing axle and port aileron axle are in same level.Left main wing axle, port aileron axle, left secondary axle and left main shaft are parallel to each other.Left main shaft is arranged on fuselage by bearing, and left main shaft vertical equity is arranged.Left master pendulum arm is isometric with left secondary swing arm.In the left breach being fixed on fuselage vertical with the rear end of left main shaft of one end of left master pendulum arm, the other end of left master pendulum arm is vertically connected in the front end of left main wing axle by bearing and left main wing axle.Left secondary axle is arranged on fuselage by bearing, and left secondary axle is in the left side of left main shaft and with left main shaft in same level.In the left breach being fixed on fuselage vertical with the rear end of left secondary axle of one end of left secondary swing arm, the other end of left secondary swing arm is vertically connected in the front end of port aileron axle by bearing and port aileron axle.The cross section of the mistake left secondary swing arm of fuselage is in the front of the cross section crossing left master pendulum arm.Left head sprocket is connected in the leading portion of left main shaft, and left secondary sprocket wheel is connected in the front end of left secondary axle.Left secondary sprocket wheel is connected by left chain with left head sprocket, and left head sprocket is 1: 1 with the gear ratio of left secondary sprocket wheel.Left chain plane of movement is vertical with left main shaft.Distance between left main shaft with left secondary axle is equal with the distance of port aileron axle with left main wing axle.Left secondary swing arm is parallel with left master pendulum arm.
Right bat swing device includes right main shaft, right countershaft, right master pendulum arm, right secondary swing arm, right main wing axle, starboard aileron axle, right head sprocket, right chain, right auxiliary chain wheel and right flank sheet.Right flank sheet is nonrigid, and right flank sheet leading edge thickness trailing edge is thin, harder near the part of leading edge, softer and flexible near the part of trailing edge.Right flank sheet is horizontally mounted, and right main wing axle and right flank sheet are fixed on the leading edge of right flank sheet and keep right the left end of fin, and starboard aileron axle and right flank sheet are fixed in the middle part of the leading edge of right flank sheet, and right main wing axle and starboard aileron axle are in same level.Right main wing axle, starboard aileron axle, right countershaft and right main shaft are parallel to each other.Right main shaft is arranged on fuselage by bearing, and right main shaft vertical equity is arranged.Right master pendulum arm is isometric with right secondary swing arm.In the right breach being fixed on fuselage vertical with the rear end of right main shaft of one end of right master pendulum arm, the other end of right master pendulum arm is vertically connected in the front end of right main wing axle by bearing and right main wing axle.Right countershaft is arranged on fuselage by bearing, and right countershaft is in the right side of right main shaft and with right main shaft in same level.In one end right breach being fixed on fuselage vertical with the rear end of right countershaft of right secondary swing arm, the other end of right secondary swing arm is vertically connected in the front end of starboard aileron axle by bearing and starboard aileron axle.The cross section of the right secondary swing arm of mistake of fuselage is in the front of the cross section crossing right master pendulum arm.Right head sprocket is connected in the leading portion of right main shaft, and right auxiliary chain wheel is connected in the front end of right countershaft.Right auxiliary chain wheel is connected by right chain with right head sprocket, and right head sprocket is 1: 1 with the gear ratio of right auxiliary chain wheel.Right chain plane of movement is vertical with right main shaft.Distance between right main shaft with right countershaft is equal with the distance of starboard aileron axle with right main wing axle.Right secondary swing arm is parallel with right master pendulum arm.
Left wing's sheet is identical with right flank sheet, and its flat shape is rectangular or right-angled trapezium, and aerofoil profile uses flat pattern under epirelief concave shape or epirelief.
From the tail end of this invention flapping wing aircraft toward in terms of front end, the operation principle of right bat swing device is: under flutter process: original position is that right flank sheet is in extreme higher position, under the control of control system, start electromotor, under the driving of driving means, right main shaft rotates clockwise, right master pendulum arm is driven to rotate clockwise, right secondary swing arm is at right head sprocket, Tong Bu rotate clockwise with right master pendulum arm under the drive of the chain drive component that gear ratio is 1: 1 of right chain and right auxiliary chain wheel composition, the leading edge keeping right flank sheet is horizontal lower bat, the displacement clapped under the spanwise identical chord positions of right flank sheet is identical, realize the most flat bat.Owing to right flank sheet is nonrigid, have certain flexibility and elasticity, under right flank sheet clap time right flank sheet trailing edge want delayed right flank sheet leading edge some.Owing to the aerofoil profile of right flank sheet is flat pattern under epirelief concave shape or epirelief, clap under right flank sheet and produce bigger lift upwards and less thrust forward.On the process of flutterring be: from the beginning of right flank sheet is in extreme lower position, along with being rotated further of electromotor, under the driving of driving means, right spindle axis counterclockwise rotation, right master pendulum arm is driven to rotate counterclockwise, Tong Bu rotate counterclockwise with right master pendulum arm under the drive of the chain drive component that gear ratio is 1: 1 that right secondary swing arm forms at right head sprocket, right chain and right auxiliary chain wheel, the leading edge keeping right flank sheet is horizontal arsis, identical along the displacement of spanwise right flank sheet identical chord positions arsis, it is achieved upwards flat bat.Owing to right flank sheet is nonrigid, having certain flexibility and elasticity, during right flank sheet arsis, the trailing edge of right flank sheet also can the leading edge of delayed right flank sheet.Owing to the aerofoil profile of right flank sheet is flat pattern under epirelief concave shape or epirelief, compared with lower bat, the degree of the leading edge of the trailing edge delayed right flank sheet of right flank sheet is larger.Arsis right flank sheet produces bigger thrust forward and less lift upwards or does not produce lift.The speed that right flank sheet is flapped is to be adjusted by the rotating speed of control electromotor.
The operation principle of left bat swing device is identical with the operation principle of right bat swing device, left bat swing device and right bat swing device synchronize to flutter i.e. with flutter at present or simultaneously on flutter.From the tail end of this invention flapping wing aircraft toward in terms of front end, left spindle axis counterclockwise rotation, clap under left wing's sheet；Left main shaft rotates clockwise, left wing's sheet arsis.
Electromotor rotates continuously, and driving means Continuous Drive left bat swing device and right bat swing device synchronize to flutter up and down, produce enough lift and thrust maintains this aircraft flight.Left wing's sheet and right flank sheet will not the most laterally produce horizontal component in spanwise during flapping motion, and efficiency is higher.
Chain conveyer mode is replaced with toothed belt transmission mode and can alleviate the construction weight of this flapping wing aircraft.This flapping wing aircraft simple in construction, easy to operate, safe and efficient.
Accompanying drawing explanation
Fig. 1 is that the present invention a kind of single-shot double rocking lever equals the schematic rear view clapping class flapping wing aircraft, and in this figure, left bat swing device and right bat swing device are in down during flutterring, and left wing's sheet and right flank sheet are in lower bat, and down, trailing edge is upward for their leading edge；Fig. 2 is the schematic top plan view of Fig. 1；Fig. 3 is the left view schematic diagram of Fig. 1；Fig. 4 is that the present invention a kind of single-shot double rocking lever is put down and clapped the left bat swing device of class flapping wing aircraft and right bat swing device is in schematic rear view when flutterring process, and in figure, during left wing's sheet and right flank sheet are in arsis, upward, trailing edge is down for their leading edge；Fig. 5 is the schematic rear view of the driving means that the same left main shaft being exaggerated is connected with right main shaft；Fig. 6 is the schematic top plan view of Fig. 5；Fig. 7 is the left view schematic diagram of Fig. 5；Fig. 8 is the right bat swing device schematic diagram being exaggerated that right flank sheet is the most trapezoidal.
In figure, 1-fuselage, the left breach of 11-, the right breach of 12-；2-empennage, 21-fin blade, 22-horizontal switch steering wheel, 23-longitudinal direction switch steering wheel；3-left bat swing device, the left main shaft of 31-, 32-left secondary axle, the left master pendulum arm of 33-, 34-left secondary swing arm, 35-left main wing axle, 36-port aileron axle, the left head sprocket of 37-, 38-left chain, 39-left secondary sprocket wheel, 310-left wing sheet, the leading edge of 311-left wing sheet, the trailing edge of 312-left wing sheet；4-right bat swing device, the right main shaft of 41-, the right countershaft of 42-, the right master pendulum arm of 43-, the right secondary swing arm of 44-, 45-right main wing axle, 46-starboard aileron axle, the right head sprocket of 47-, 48-right chain, the right auxiliary chain wheel of 49-, 410-right flank sheet, the leading edge of 411-right flank sheet, the trailing edge of 412-right flank sheet；5-undercarriage；6-driving means, 61-electromotor, 62-driving gear, 63-left band tooth rotating disk, the left turntable shaft of 631-, 64-right belt tooth rotating disk, the right turntable shaft of 641-, the left connecting rod of 65-, 66-right connecting rod, the left rocking bar of 67-；The right rocking bar of 68-, 691-the first revolute pair, 692-the second revolute pair, 693-the 3rd revolute pair；694-the 4th revolute pair.351 represent the movement locus of left main wing axle 35 when left bat swing device 3 is fluttered；361 represent the movement locus of port aileron axle 36 when left bat swing device 3 is fluttered；451 represent the movement locus of right main wing axle 45 when right bat swing device 4 is fluttered, and 461 represent the movement locus of starboard aileron axle 46 when right bat swing device 4 is fluttered.
Detailed description of the invention
In conjunction with accompanying drawing, 1 ~ 8 couple of present invention is illustrated: a kind of single-shot double rocking lever is flat claps class flapping wing aircraft, including fuselage 1, empennage 2, left bat swing device 3, right bat swing device 4, undercarriage 5 and driving means 6.Being furnished with control system, airborne equipment and power-supply device in fuselage 1, this flapping wing aircraft flight attitude is handled by control system, and airborne equipment includes that various flight instrumentation instrument and capture apparatus, employing lithium battery are that control system, airborne equipment and driving means 6 are powered.It is configured with self-navigation autonomous driving device or remote control equipment, uses self-navigation autonomous driving mode or remote control mode flight.Left bat swing device 3 and the right identical left and right sides being symmetrically arranged in fuselage 1 of bat swing device 4 structure and parameter.Empennage 2 includes fin blade 21, horizontal switch steering wheel 22 and longitudinal switch steering wheel 23.Longitudinal switch steering wheel 23 carries out longitudinal switch under the control of control system and controls fin blade 21, fin blade 21 can be made to deflect up or down, the effect of lifting rudder.During manipulation moves ahead, the fin blade 21 of this aircraft upward deflects this aircraft can be made to come back, it is achieved face upward；The downward bias change of team makes this aircraft bow, it is achieved nutation.Laterally switch steering wheel 22 carries out horizontal switch control to fin blade 21 under the control of control system, and fin blade 21 can be made to tilt to the left or to the right, with longitudinal switch steering wheel 23 with the use of the course that can change this aircraft.Bikini wheel undercarriage after undercarriage 5 employing.For compact conformation and facilitate left bat swing device 3 and right bat swing device 4 to flutter the most up and down, it is respectively provided with left breach 11 and right breach 12 in the left and right sides of fuselage 1.
Driving means 6 includes electromotor 61, driving gear 62, left band tooth rotating disk 63, right belt tooth rotating disk 64, left connecting rod 65, right connecting rod 66, left rocking bar 67 and right rocking bar 68.Electromotor 61 uses motor or internal combustion engine.Left band tooth rotating disk 63 is made up of left-hand rotation disk body and left turntable shaft 631, and left turntable shaft 631 front end is perpendicularly fixed at the center of left-hand rotation disk body, and the rear end of left turntable shaft 631 is connected with fuselage 1 by bearing, and left turntable shaft 631 vertical equity is arranged.Right belt tooth rotating disk 64 is made up of right-hand rotation disk body and right turntable shaft 641, right turntable shaft 641 front end is perpendicularly fixed at the center of right-hand rotation disk body, the rear end of right turntable shaft 641 is connected with fuselage 1 by bearing, and right turntable shaft 641 vertical equity is arranged, is in same level with left turntable shaft 631.Left band tooth rotating disk 63 engages with right belt tooth rotating disk 64, and gear ratio is 1: 1.Electromotor 61 fixedly mounts on the fuselage 1, and driving gear 62 is fixedly mounted on the output shaft of electromotor 61, and driving gear 62 engages with right belt tooth rotating disk 64, and driving gear 62 is less than right belt tooth rotating disk 64.The lower end of left connecting rod 65 is connected in the close edge of left band tooth rotating disk 63 by the first revolute pair 691 and left band tooth rotating disk 63, and the upper end of left connecting rod 65 is connected with the right-hand member of left rocking bar 67 by the 3rd revolute pair 693.The lower end of right connecting rod 66 is connected in the close edge of right belt tooth rotating disk 64 by the second revolute pair 692 and right belt tooth rotating disk 64, and the upper end of right connecting rod 66 is connected with the left end of right rocking bar 68 by the 4th revolute pair 694.The left end of left rocking bar 67 front end that be fixed on left main shaft 31 vertical with the left main shaft 31 of left bat swing device 3；The right-hand member of right rocking bar 68 front end that be fixed on right main shaft 41 vertical with the right main shaft 41 of right bat swing device 4.Left connecting rod 65 is isometric with right connecting rod 66；Left rocking bar 67 is isometric with right rocking bar 68.When first revolute pair 691 is in extreme lower position, the second revolute pair 692 is also at extreme lower position, and both are with high, to guarantee that left bat swing device 3 and right bat swing device 4 synchronize to flutter.
The power of electromotor 61 passes to right rocking bar 68 and left rocking bar 67 drives right bat swing device 4 and left bat swing device about 3 to flutter respectively through right connecting rod 66 and left connecting rod 65 after driving gear 62 slows down with right belt tooth rotating disk 64 and left band tooth rotating disk 63 again.Electromotor 61 rotating speed can be controlled by control system, thus controls right bat swing device 4 and the frequency of fluttering of left bat swing device 3.
Left bat swing device 3 includes left main shaft 31, left secondary axle 32, left master pendulum arm 33, left secondary swing arm 34, left master pendulum arm 35, port aileron axle 36, left head sprocket 37, left chain 38, left secondary sprocket wheel 39 and left wing's sheet 310.Left wing's sheet 310 is nonrigid, and the leading edge 311 of left wing's sheet is thicker, and the trailing edge 312 of left wing's sheet is relatively thin, harder near the part of the leading edge 311 of left wing's sheet, softer near the part of the trailing edge 312 of left wing's sheet, and left wing's sheet 310 is flexible.Left wing's sheet 310 is horizontally mounted, left master pendulum arm 35 and left wing's sheet 310 are fixed on the leading edge 311 of left wing's sheet and keep left the right-hand member of fin 310, port aileron axle 36 and left wing's sheet 310 are fixed in the middle part of the leading edge 311 of left wing's sheet, and left master pendulum arm 35 and port aileron axle 36 are in same level.Left master pendulum arm 35, port aileron axle 36, left secondary axle 32 and left main shaft 31 are parallel to each other.Left main shaft 31 is installed on the fuselage 1 by bearing, and left main shaft 31 vertical equity is arranged.Left master pendulum arm 33 is isometric with left secondary swing arm 34.In the left breach 11 being fixed on fuselage 1 vertical with the rear end of left main shaft 31 of one end of left master pendulum arm 33, the other end of left master pendulum arm 33 is vertically connected in the front end of left master pendulum arm 35 by bearing and left master pendulum arm 35.Left secondary axle 32 is installed on the fuselage 1 by bearing, and left secondary axle 32 is in the left side of left main shaft 31 and with left main shaft 31 in same level.In the left breach 11 being fixed on fuselage 1 vertical with the rear end of left secondary axle 32 of one end of left secondary swing arm 34, the other end of left secondary swing arm 34 is vertically connected in the front end of port aileron axle 36 by bearing and port aileron axle 36.The cross section of the mistake left secondary swing arm 34 of fuselage 1 is in the front of the cross section crossing left master pendulum arm 33.Left head sprocket 37 is connected in the leading portion of left main shaft 31, and left secondary sprocket wheel 39 is connected in the front end of left secondary axle 32.Left secondary sprocket wheel 39 is connected by left chain 38 with left head sprocket 37, and left head sprocket 37 is 1: 1 with the gear ratio of left secondary sprocket wheel 39.Left chain 38 plane of movement is vertical with left main shaft 31.Distance between left main shaft 31 and left secondary axle 32 is equal with the distance of port aileron axle 36 with left master pendulum arm 35.Left secondary swing arm 34 is parallel with left master pendulum arm 33.
Right bat swing device 4 includes right main shaft 41, right countershaft 42, right master pendulum arm 43, right secondary swing arm 44, right main wing axle 45, starboard aileron axle 46, right head sprocket 47, right chain 48, right auxiliary chain wheel 49 and right flank sheet 410.Right flank sheet 410 is nonrigid, and the leading edge 411 of right flank sheet is thicker, and the trailing edge 412 of right flank sheet is relatively thin, and right flank sheet 410 is harder near the part of the leading edge 411 of right flank sheet, softer and flexible near the part of the trailing edge 412 of right flank sheet.Right flank sheet 410 is horizontally mounted, right main wing axle 45 and right flank sheet 410 are fixed on the leading edge 411 of right flank sheet and keep right the left end of fin 410, starboard aileron axle 46 and right flank sheet 410 are fixed in the middle part of the leading edge 411 of right flank sheet, and right main wing axle 45 and starboard aileron axle 46 are in same level.Right main wing axle 45, starboard aileron axle 46, right countershaft 42 and right main shaft 41 are parallel to each other.Right main shaft 41 is installed on the fuselage 1 by bearing, and right main shaft 41 vertical equity is arranged.Right master pendulum arm 43 is isometric with right secondary swing arm 44.In the right breach 12 being fixed on fuselage 1 vertical with the rear end of right main shaft 41 of one end of right master pendulum arm 43, the other end of right master pendulum arm 43 is vertically connected in the front end of right main wing axle 45 by bearing and right main wing axle 45.Right countershaft 42 is installed on the fuselage 1 by bearing, and right countershaft 42 is in the right side of right main shaft 41 and with right main shaft 41 in same level.In one end right breach 12 being fixed on fuselage 1 vertical with the rear end of right countershaft 42 of right secondary swing arm 44, the other end of right secondary swing arm 44 is vertically connected in the front end of starboard aileron axle 46 by bearing and starboard aileron axle 46.The cross section of the right secondary swing arm 44 of mistake of fuselage 1 is in the front of the cross section crossing right master pendulum arm 43.Right head sprocket 47 is connected in the leading portion of right main shaft 41, and right auxiliary chain wheel 49 is connected in the front end of right countershaft 42.Right auxiliary chain wheel 49 is connected by right chain 48 with right head sprocket 47, and right head sprocket 47 is 1: 1 with the gear ratio of right auxiliary chain wheel 49.Right chain 48 plane of movement is vertical with right main shaft 41.Distance between right main shaft 41 with right countershaft 42 is equal with the distance of starboard aileron axle 46 with right main wing axle 45.Right secondary swing arm 44 is parallel with right master pendulum arm 43.
Left wing's sheet 310 is identical with right flank sheet 410, and its flat shape is rectangular or right-angled trapezium, and aerofoil profile uses flat pattern under epirelief concave shape or epirelief.
From the tail end of this invention flapping wing aircraft toward in terms of front end, the operation principle of right bat swing device 4 is: under flutter process: original position is that right flank sheet 410 is in higher position, under the control of control system, start electromotor 61, under the driving of driving means 6, right main shaft 41 rotates clockwise, right master pendulum arm 43 is driven to rotate clockwise, right secondary swing arm 44 is at right head sprocket 47, Tong Bu rotate clockwise with right master pendulum arm 43 under the drive of the chain drive component that gear ratio is 1: 1 of right chain 48 and right auxiliary chain wheel 49 composition, the leading edge 411 keeping right flank sheet is horizontal lower bat, the displacement clapped under the identical chord positions of spanwise right flank sheet 410 is identical, realize the most flat bat.Owing to right flank sheet 410 is nonrigid, have certain flexibility and elasticity, when right flank sheet is clapped for 410 times the trailing edge 412 of right flank sheet want delayed right flank sheet leading edge 411 some.Owing to the aerofoil profile of right flank sheet 410 is flat pattern under epirelief concave shape or epirelief, right flank sheet is clapped for 410 times and is produced bigger lift upwards and less thrust forward.On the process of flutterring be: from the beginning of right flank sheet 410 is in extreme lower position, along with being rotated further of electromotor 61, under the driving of driving means 6, right main shaft 41 rotates counterclockwise, right master pendulum arm 43 is driven to rotate counterclockwise, Tong Bu rotate counterclockwise with right master pendulum arm 43 under the drive of the chain drive component that gear ratio is 1: 1 that right secondary swing arm 44 forms at right head sprocket 47, right chain 48 and right auxiliary chain wheel 49, the leading edge 411 keeping right flank sheet is horizontal arsis, identical along the displacement of the identical chord positions arsis of spanwise right flank sheet 410, it is achieved upwards flat bat.Owing to right flank sheet 410 is nonrigid, having certain flexibility and elasticity, during right flank sheet 410 arsis, the trailing edge 412 of right flank sheet also can the leading edge 411 of delayed right flank sheet.Owing to the aerofoil profile of right flank sheet 410 is flat pattern under epirelief concave shape or epirelief, compared with lower bat, the degree of the leading edge 411 of the trailing edge 412 delayed right flank sheet of right flank sheet is larger.Arsis right flank sheet 410 produces bigger thrust forward and less lift upwards or does not produce lift.The speed that right flank sheet 410 is flapped is to be adjusted by the rotating speed of control electromotor 61.
The operation principle of left bat swing device 3 is identical with the operation principle of right bat swing device 4, left bat swing device 3 and right bat swing device 4 synchronize to flutter i.e. with flutter at present or simultaneously on flutter.From the tail end of this invention flapping wing aircraft toward in terms of front end, left main shaft 31 rotates counterclockwise, and left wing's sheet is clapped for 310 times；Left main shaft 31 rotates clockwise, left wing's sheet 310 arsis.
Electromotor 61 rotates continuously, and driving means 6 Continuous Drive left bat swing device 3 and right bat swing device 4 synchronize to flutter up and down continuously, produce enough lift and thrust maintains this aircraft flight.Left wing's sheet 310 and right flank sheet 410 will not the most laterally produce horizontal component in spanwise during flapping motion, and efficiency is higher.
Chain conveyer mode is replaced with toothed belt transmission mode and can alleviate the construction weight of this flapping wing aircraft.This flapping wing aircraft simple in construction, easy to operate, safe and efficient.
Described Chain conveyer mode is replaced with toothed belt transmission mode, specifically it is changed to: left head sprocket 37, left chain 38 and left secondary sprocket wheel 39 being replaced with left main wheel, left Timing Belt and the left secondary of synchronizing accordingly and synchronizes wheel, the left main gear ratio synchronizing to take turns wheel Tong Bu with left secondary is 1: 1；Right head sprocket 47, right chain 48 and right auxiliary chain wheel 49 being replaced with right main wheel, right Timing Belt and the right pair of synchronizing accordingly and synchronizes wheel, the right main gear ratio synchronizing to take turns wheel Tong Bu with right pair is 1: 1.
It is furnished with video camera and information processing system in fuselage 1, can take photo by plane, the image information of shooting can be sent to ground installation.On machine, this flapping wing aircraft of remote control equipment with ground configurations match can realize remote control distributor.
This flapping wing aircraft uses hands to throw mode and takes off or use the runway mode of sliding to take off；Left wing's sheet 310 and right flank sheet 410 are locked in sustained height, facilitate this flapping wing aircraft to glide or landing.
One single-shot double rocking lever of the present invention is flat to be clapped class flapping wing aircraft and can be used for taking photo by plane, geographical measurements, traffic duty, agrisilviculture, military investigates and the multiple-task such as rescue and relief work.
Claims (8)
1. a single-shot double rocking lever flat bat class flapping wing aircraft, including fuselage (1), empennage (2), left bat swing device (3), right bat swing device (4), undercarriage (5) and driving means (6), it is characterized in that: be furnished with control system, flight instrumentation instrument, capture apparatus and power-supply device in fuselage (1), employing lithium battery is control system, flight instrumentation instrument, capture apparatus and driving means (6) power supply；It is configured with self-navigation autonomous driving device or remote control equipment, uses self-navigation autonomous driving mode or remote control mode flight；Left bat swing device (3) and the identical left and right sides being symmetrically arranged in fuselage (1) of right bat swing device (4) structure and parameter；Empennage (2) includes fin blade (21), horizontal switch steering wheel (22) and longitudinal switch steering wheel (23)；The left and right sides of fuselage (1) is respectively provided with left breach (11) and right breach (12)；Driving means (6) includes electromotor (61), driving gear (62), left band tooth rotating disk (63), right belt tooth rotating disk (64), left connecting rod (65), right connecting rod (66), left rocking bar (67) and right rocking bar (68)；Left band tooth rotating disk (63) is made up of left-hand rotation disk body and left turntable shaft (631), left turntable shaft (631) front end is perpendicularly fixed at the center of left-hand rotation disk body, the rear end of left turntable shaft (631) is connected with fuselage (1) by bearing, and left turntable shaft (631) vertical equity is arranged；Right belt tooth rotating disk (64) is made up of right-hand rotation disk body and right turntable shaft (641), right turntable shaft (641) front end is perpendicularly fixed at the center of right-hand rotation disk body, the rear end of right turntable shaft (641) is connected with fuselage (1) by bearing, right turntable shaft (641) vertical equity is arranged, is in same level with left turntable shaft (631)；Left band tooth rotating disk (63) is engaged with right belt tooth rotating disk (64), and gear ratio is 1: 1；Electromotor (61) is fixedly mounted on fuselage (1), and driving gear (62) is fixedly mounted on the output shaft of electromotor (61), and driving gear (62) engages with right belt tooth rotating disk (64), and driving gear (62) is less than right belt tooth rotating disk (64)；The lower end of left connecting rod (65) is connected in the close edge of left band tooth rotating disk (63) by the first revolute pair (691) and left band tooth rotating disk (63), and the upper end of left connecting rod (65) is connected with the right-hand member of left rocking bar (67) by the 3rd revolute pair (693)；The lower end of right connecting rod (66) is connected in the close edge of right belt tooth rotating disk (64) by the second revolute pair (692) and right belt tooth rotating disk (64), and the upper end of right connecting rod (66) is connected with the left end of right rocking bar (68) by the 4th revolute pair (694)；The vertical front end being fixed on left main shaft (31) of left main shaft (31) of the left end of left rocking bar (67) and left bat swing device (3)；The vertical front end being fixed on right main shaft (41) of right main shaft (41) of the right-hand member of right rocking bar (68) and right bat swing device (4)；Left connecting rod (65) is isometric with right connecting rod (66)；Left rocking bar (67) is isometric with right rocking bar (68)；When first revolute pair (691) is in extreme lower position, the second revolute pair (692) is also at extreme lower position, and both are with high, to guarantee that left bat swing device (3) and right bat swing device (4) synchronize to flutter；Electromotor (61) rotating speed can be controlled by control system, thus controls right bat swing device (4) and the frequency of fluttering of left bat swing device (3)；Left bat swing device (3) includes left main shaft (31), left secondary axle (32), left master pendulum arm (33), left secondary swing arm (34), left master pendulum arm (35), port aileron axle (36), left head sprocket (37), left chain (38), left secondary sprocket wheel (39) and left wing's sheet (310)；Left wing's sheet (310) is nonrigid, the leading edge (311) of left wing's sheet is thicker, and the trailing edge (312) of left wing's sheet is relatively thin, harder near the part of the leading edge (311) of left wing's sheet, softer near the part of the trailing edge (312) of left wing's sheet, and left wing's sheet (310) is flexible；Left wing's sheet (310) is horizontally mounted, left master pendulum arm (35) and left wing's sheet (310) are fixed on the leading edge (311) of left wing's sheet and keep left the right-hand member of fin (310), port aileron axle (36) and left wing's sheet (310) are fixed on leading edge (311) middle part of left wing's sheet, and left master pendulum arm (35) and port aileron axle (36) are in same level；Left master pendulum arm (35), port aileron axle (36), left secondary axle (32) and left main shaft (31) are parallel to each other；Left main shaft (31) is arranged on fuselage (1) by bearing, and left main shaft (31) vertical equity is arranged；Left master pendulum arm (33) is isometric with left secondary swing arm (34)；In the left breach (11) being fixed on fuselage (1) vertical with the rear end of left main shaft (31) of one end of left master pendulum arm (33), the other end of left master pendulum arm (33) is vertically connected in the front end of left master pendulum arm (35) by bearing and left master pendulum arm (35)；Left secondary axle (32) is arranged on fuselage (1) by bearing, and left secondary axle (32) is in the left side of left main shaft (31) and with left main shaft (31) in same level；In the left breach (11) being fixed on fuselage (1) vertical with the rear end of left secondary axle (32) of one end of left secondary swing arm (34), the other end of left secondary swing arm (34) is vertically connected in the front end of port aileron axle (36) by bearing and port aileron axle (36)；The cross section of mistake left secondary swing arm (34) of fuselage (1) is in the front of the cross section crossing left master pendulum arm (33)；Left head sprocket (37) is connected in the leading portion of left main shaft (31), and left secondary sprocket wheel (39) is connected in the front end of left secondary axle (32)；Left secondary sprocket wheel (39) is connected by left chain (38) with left head sprocket (37), and left head sprocket (37) is 1: 1 with the gear ratio of left secondary sprocket wheel (39)；Left chain (38) plane of movement is vertical with left main shaft (31)；Distance between left main shaft (31) with left secondary axle (32) is equal with the distance of port aileron axle (36) with left master pendulum arm (35)；Left secondary swing arm (34) is parallel with left master pendulum arm (33)；Right bat swing device (4) includes right main shaft (41), right countershaft (42), right master pendulum arm (43), right secondary swing arm (44), right main wing axle (45), starboard aileron axle (46), right head sprocket (47), right chain (48), right auxiliary chain wheel (49) and right flank sheet (410)；Right flank sheet (410) is nonrigid, the leading edge (411) of right flank sheet is thicker, and the trailing edge (412) of right flank sheet is relatively thin, and right flank sheet (410) is harder near the part of the leading edge (411) of right flank sheet, softer and flexible near the part of the trailing edge (412) of right flank sheet；Right flank sheet (410) is horizontally mounted, right main wing axle (45) and right flank sheet (410) are fixed on the leading edge (411) of right flank sheet and keep right the left end of fin (410), starboard aileron axle (46) and right flank sheet (410) are fixed on leading edge (411) middle part of right flank sheet, and right main wing axle (45) and starboard aileron axle (46) are in same level；Right main wing axle (45), starboard aileron axle (46), right countershaft (42) and right main shaft (41) are parallel to each other；Right main shaft (41) is arranged on fuselage (1) by bearing, and right main shaft (41) vertical equity is arranged；Right master pendulum arm (43) is isometric with right secondary swing arm (44)；In the right breach (12) being fixed on fuselage (1) vertical with the rear end of right main shaft (41) of one end of right master pendulum arm (43), the other end of right master pendulum arm (43) is vertically connected in the front end of right main wing axle (45) by bearing and right main wing axle (45)；Right countershaft (42) is arranged on fuselage (1) by bearing, and right countershaft (42) is in the right side of right main shaft (41) and with right main shaft (41) in same level；In one end right breach (12) being fixed on fuselage (1) vertical with the rear end of right countershaft (42) of right secondary swing arm (44), the other end of right secondary swing arm (44) is vertically connected in the front end of starboard aileron axle (46) by bearing and starboard aileron axle (46)；The cross section of the right secondary swing arm (44) of mistake of fuselage (1) is in the front of the cross section crossing right master pendulum arm (43)；Right head sprocket (47) is connected in the leading portion of right main shaft (41), and right auxiliary chain wheel (49) is connected in the front end of right countershaft (42)；Right auxiliary chain wheel (49) is connected by right chain (48) with right head sprocket (47), and right head sprocket (47) is 1: 1 with the gear ratio of right auxiliary chain wheel (49)；Right chain (48) plane of movement is vertical with right main shaft (41)；Distance between right main shaft (41) with right countershaft (42) is equal with the distance of starboard aileron axle (46) with right main wing axle (45)；Right secondary swing arm (44) is parallel with right master pendulum arm (43).
A kind of single-shot double rocking lever the most according to claim 1 is flat claps class flapping wing aircraft, it is characterized in that: Chain conveyer mode is replaced with toothed belt transmission mode, specifically it is changed to: left head sprocket (37), left chain (38) and left secondary sprocket wheel (39) being replaced with left main wheel, left Timing Belt and the left secondary of synchronizing accordingly and synchronizes wheel, the left main gear ratio synchronizing to take turns wheel Tong Bu with left secondary is 1: 1；Right head sprocket (47), right chain (48) and right auxiliary chain wheel (49) being replaced with right main wheel, right Timing Belt and the right pair of synchronizing accordingly and synchronizes wheel, the right main gear ratio synchronizing to take turns wheel Tong Bu with right pair is 1: 1.
A kind of single-shot double rocking lever the most according to claim 1 and 2 is flat claps class flapping wing aircraft, it is characterised in that: left wing's sheet (310) is identical with right flank sheet (410), and its flat shape is rectangular or right-angled trapezium, flat pattern under aerofoil profile employing epirelief concave shape or epirelief.
A kind of single-shot double rocking lever the most according to claim 1 and 2 is flat claps class flapping wing aircraft, it is characterised in that: fuselage is furnished with video camera and information processing system in (1), the image information of shooting can be sent to ground installation.
A kind of single-shot double rocking lever the most according to claim 1 and 2 is flat claps class flapping wing aircraft, it is characterised in that: on machine and the remote control equipment of ground configurations match, remote control distributor can be realized.
A kind of single-shot double rocking lever the most according to claim 1 and 2 is flat claps class flapping wing aircraft, it is characterised in that: bikini wheel undercarriage after undercarriage (5) employing.
A kind of single-shot double rocking lever the most according to claim 1 and 2 is flat claps class flapping wing aircraft, it is characterised in that: left wing's sheet (310) and right flank sheet (410) can be locked in sustained height.
A kind of single-shot double rocking lever the most according to claim 1 and 2 is flat claps class flapping wing aircraft, it is characterised in that: electromotor (61) uses motor or internal combustion engine.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106624632A (en) * | 2016-12-06 | 2017-05-10 | 上海航天精密机械研究所 | Titanium alloy polyhedron rudder frame and preparation method thereof |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107972864A (en) * | 2017-12-06 | 2018-05-01 | 佛山市神风航空科技有限公司 | A kind of lift unit |
| CN109178304B (en) * | 2018-09-07 | 2022-02-22 | 邱文化 | Rotary flapping wing aircraft |
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| CN204297088U (en) * | 2014-12-15 | 2015-04-29 | 佛山市神风航空科技有限公司 | A kind of single-shot double rocking lever is flat claps class flapping wing aircraft |
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| SU1121182A1 (en) * | 1978-12-27 | 1984-10-30 | Bogomolov Nikolaj | Ornithopter wing drive |
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Inventor after: Han Zhongfei Inventor before: Wang Zhicheng |
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Effective date of registration: 20170911 Address after: 053000 Hengshui City, Hebei province Fucheng County town pier Han Village No. 32 Patentee after: Han Zhongfei Address before: Foshan City, Guangdong province 528500 city streets Gaoming District No. 78 Jiangwan Road, room 402 Fu Wan Patentee before: Shenfeng science and technology of aviation Co., Ltd of Foshan City |
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